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Laser Tracking and Tram Control of a Continuous Mining Machine.

Anderson DL
MISSING :13 pages
This U.S. Bureau of Mines report discusses the status of a laser- based guidance system to provide position and heading feedback and closed-loop control of tramming maneuvers for a continuous mining machine. The system has been developed and tested at the Bureau and is now being prepared for underground experiments. The system hardware includes laser scanners, a sensor communication network, and host computer hardware. The system software includes a position and heading computation module and a tram control module. The description of the software includes discussions of laser data acquisition, error compensation methods, position and heading determination, safety checking for continuous miner tramming, and closed-loop tram control. The accuracy of the laser scanner's data, the reliability of the lasers in a dusty environment, and the system's accuracy on tracking the position and heading of the continuous mining machine are shown in the results of experiments performed at the Bureau. Conclusions are stated based on these experimental results, and further work to improve the system performance and prepare for underground testing is discussed.
Publication Date
Document Type
IH; Report of Investigations;
Fiscal Year
Identifying No.
RI 9319
NIOSH Division
Source Name
Page last reviewed: December 3, 2021
Content source: National Institute for Occupational Safety and Health Education and Information Division